Caterpillar Inc.

Caterpillar Paving Products Inc.

Mark E Hartman

Jackson Wai

Jesse R Gerdes

James David Siegle

Lawrence Andrew Mianzo

Joshua M Williams

Thuong Le

Robert Wayne Lindsey

Ahmed Khalil

Tod Andrew Oblak

Gregory J Speckhart

Adam Braun

Nathaniel S Doy

Todd Alex Impola

Benjamin Paul Gottemoller

Joseph E Forcash

Bruce Henry Hein

Jeffrey Thomas Stringer

Shastri Ram

Carlos Nino Baron

Thomas Joseph Houchin

Jeffrey J Carter, Jr

Aaron Luther Thomas

Jeff T Stringer

Weston Taylor

Siddarth Desikan

Shanmukha Bhumireddy

Nathaniel W Hart

Sri Sekharan

An intelligent three dimensional scanner system mountable on a movable machine, including three dimensional scanner, a camera, and control circuitry. The control circuitry is configured to receive three dimensional point data from the three dimensional scanner, receive two dimensional image data from the camera, input the two dimensional image data to a machine learning model, which identifies objects in the two dimensional image data, fuse the three dimensional point data with the identified objects in the two dimensional image data in order to identify the objects in the three dimensional point data, and control a scan pattern to direct scanning resolution of the three dimensional scanner based on the identified objects.

Intelligent LiDAR scanning

A work machine, light detection and ranging (LiDAR) system, and method of reducing false object detections are disclosed. The work machine may include a frame, a power unit, a locomotive device, and the LiDAR system. The LiDAR system may include at least one laser, at least one sensor, a bracket, and a control unit configured to execute an object detection program. The LiDAR system is configured to exclude from its object detection program a plurality of beams emitted toward the work machine through a design of the bracket and/or software methods of the control unit. The method may include storing a database of exclude coordinates and using the database to filter out undesirable data samples from the object detection program.

Work machine with LiDAR having reduced false object detection

A system and method for controlling movement of a machine or a portion of the machine. The method comprises processing a waveform based on detected reflected light and a derivative of the waveform. The waveform includes a return. The method further comprises classifying the return as a phantom target or a non-amorphous target based on the result of the processing, and controlling movement of the machine or a portion of the machine based on the result of the classifying the return.

LIDAR waveform classification

A method for testing a perception system is disclosed. The method includes detecting, by a processor, one or more objects in a composite image, the composite image including a first image and at least a portion of a second image. A first set of objects are detected in the first image. Further, the method includes comparing, by the processor, a second set of objects of the one or more objects detected in the portion of the second image with a set of previously detected objects in the portion of the second image. Furthermore, the method includes validating, the performance of the processor in the detection of the first set of objects in the first image by ensuring the second set of objects detected in the at least a portion of a second image matches the set of previously detected objects in the portion of the second image.

Systems and methods for testing an automatic perception system

A control system for a generator of an electric drive is provided. The control system may include a converter circuit configured to communicate with one or more phases of a stator of the generator, and a controller in communication with the converter circuit and an engine associated with the electric drive. The controller may be configured to determine an operational state of the electric drive based on at least engine speed, and engage one of a map-lookup control scheme and a fixed-theta off control scheme for operating the generator based on the operational state of the electric drive.

Switched reluctance generator integrated controls

A method of controlling a generator () of an electric drive () associated with an engine () is provided. The method may determine an operational state of the electric drive () based on a speed of the engine (), and selectively engage one of a map-lookup control scheme () and a fixed-theta off control scheme () for operating the generator () based on the operational state of the electric drive ().

A method of estimating an initial rotor position of a switched reluctance (SR) machine having a rotor and a stator is provided. The method may comprise the steps of driving a phase current in each of a plurality of phases of the SR machine to a predefined limit, performing an integration of a common bus voltage associated with each phase, determining a flux value for each phase based on the integrations, and determining the initial rotor position based on the flux values.

Switched reluctance initial rotor position estimation

A control system for a switched reluctance (SR) machine is provided. The control system may include a converter circuit that is operatively coupled to the SR machine, and a controller in communication with the converter circuit. The controller may be configured to execute two or more processes in parallel, wherein the processes include generating a torque command based on one or more of bus voltage, machine current, rotor speed and rotor position, determining a first set of current control parameters based on the torque command and the rotor speed, determining a second set of current control parameters based on one or more of the torque command, the rotor speed and the rotor position, selecting one of the first and second sets of current control parameters based on the rotor speed, and operating the gates according to the selected set of current control parameters.

FPDA closed loop electric drives controls

A method of estimating rotor speed of a generatorhaving a rotorand a statoris provided. The method may provide a source current to the stator, determine a relative rotor speed based on a sensor signal provided by a rotor speed sensor, determine a relative rotor position corresponding to the relative rotor speed, determine an absolute rotor position based on the sensor signal and phase currents, and calibrate the sensor signal based on an offset between the relative rotor position and the absolute rotor position.

Switched reluctance generator initial rotor position estimation

A method of controlling a motor is provided. The method may determine a speed of the motor, and engage a soft chopping routine on a first switch and a second switch of each phase if the motor speed is relatively low. The first switch may be driven by a first pulse width modulated PWM signal and the second switch being driven by a second PWM signal. The first and second PWM signals may be alternatingly configured such that at least one of the first switch and the second switch is closed at any point during the distributed soft chopping routine and both the first switch and the second switch are never simultaneously open.

Switching strategy for switched reluctance machine

A method for testing a power converter having at least one power transistor is disclosed. The method may include receiving a power transistor test request, and resetting a fault flag. The method may also include applying a gate driver signal to each power transistor, receiving a feedback signal from each power transistor, and determining a difference between the gate driver signal and the feedback signal associated with a respective power transistor. The method may further include identifying a fault if the difference exceeds a threshold profile, and setting a fault flag when a fault is identified.

System and method for testing power transistors

A method of detecting one or more failed current sensor and estimating a phase current for the failed current sensor on a three-phase machine is disclosed. The method may include detecting one or more failed current sensor by determining if an absolute value of a sum of the phase currents of the motor is below an open circuit value. The method may also include determining which phase currents are approximately zero, for each phase current associated with each phase of the motor, if the sum of the phase currents of the motor is not below the open circuit value. The method may further include estimating the phase current for the failed current sensor by determining the phase current value for the failed current sensor, that when added to the phase currents of the remaining current sensors, will make the sum of all the phase currents equal to approximately zero.

Method and system for detecting a failed current sensor in a three-phase machine

A method of testing power converter current sensors is disclosed. The method may include receiving a current sensor test request and receiving measured currents from current measurements from the at least one current sensor, based on the test request. The method may further include comparing the measured current of the sensor with a stored profile and determining whether a fault exists in each current sensor being tested. The method may also include providing a user with a test report.

Power converter current sensor testing method

A system is provided for controlling an electric machine. The system has a power source configured to supply electric energy to the electric machine. In addition, the system has an inverter operationally connected to the power source and the electric machine and configured to increase or decrease a rotor flux component of a voltage applied to the electric machine, while maintaining a torque component at an essentially constant level. The system further has a control device configured to determine at least one parameter of the electric machine and operate the inverter in either a first or a second mode in response to the at least one determined parameter.

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Edwards, IL, United States of America

Mark E Hartman