Caterpillar Inc.

Shaun D Currier

Eric Wade Cler

Aaron Robert Shatters

Jason Brinkman

Eric P Jakubiak

Vincent Alioto

A method and system for controlling a machine to adjust the angle of repose of a material pile by receiving, by one or more processors and from sensors, measurements of geometric characteristics of a material pile; determining an actual angle of repose for the pile; identifying properties of the material; determining, by the one or more processors, a target angle of repose for the material pile according to the one or more material properties; determining an optimized travel path for a tool through the material pile, according to the actual and target angle of repose; and causing the tool to be actuated along the optimized travel path, wherein the tool engages and lifts a portion of the material to a top of the material pile such that the remaining material of the material pile has an angle of repose that is substantially equal to the target angle of repose.

Repose-optimized material stockpiling tool path

A system for communicating slippage experienced by at least one traction device of a work machine, to a remote operator interface for controlling the work machine through the remote operator interface is described. The system includes a controller configured to receive data associated with a speed of the at least one traction device of the work machine and determine a slippage condition of the at least one traction device based on the data. The controller is further configured to activate a visual overlay over a virtual image, of the at least one traction device, displayed in a video feed to represent the slippage condition on the remote operator interface. The video feed is a real-time video feed, indicating one or more operations of the work machine, displayed on the remote operator interface.

System and method for communicating traction device slippage

A method for determining implement load characteristics of a load carrying mobile machine includes receiving at least pressure data and position data associated with a payload received by the implement. The method also includes determining a locational value associated with the payload within the implement. The method further includes updating the locational value based on movement of the payload in the implement, the updated locational value being based at least on the pressure data, the position data, and predetermined physical parameters of the machine. The method further includes using the updated locational value to determine operational parameters of the machine.

Systems and methods for determining a locational value of a load associated with an implement

A wheel loader machine includes a bucket configured to hold a predetermined load of a granular or powder material, a hydraulic system having an electro-hydraulic actuator to move the bucket over tilt angles and to shake the bucket, a hydraulic sensor configured to detect hydraulic pressure, an interface configured to receive input parameters and to output status information of the bucket, and a controller. The input parameters including a target weight of the granular or powder material. The status information including weight of the granular or powder material in the bucket determined using the detected hydraulic pressure. The controller configured to control the hydraulic system to tilt the bucket to a predetermined tilt angle and to shake the bucket in accordance with an agitation pattern until the weight of the granular or powder in the bucket is at or below the target weight of the granular or powder material.

System and method for bucket agitation during automated payload tip-off

A controller may obtain initial sensing data to determine an estimated weight associated with each initial load of one or more initial loads of material carried by an implement. The controller may identify an estimated weigh accuracy metric associated with each initial load and an estimated weight accuracy metric associated with a final load to be carried by the implement. The controller may determine a target weight for the final load based on the estimated weights of the one or more initial loads, the estimated weight accuracy metrics of the one or more initial loads, or the estimated weight accuracy metric associated with the final load. The controller may obtain final sensing data to determine an estimated weight associated with the final load and may cause the implement to perform one or more actions based on the estimated weight of the final load and the target weight.

Work machine overload prevention

A system for assisting remote operation of a work machine may include a work machine and remote operations equipment arranged on the work machine. The remote operations equipment may be configured to capture information about the environment of the work machine and transmit the information to a remote control station. The system may also include a remote control station configured to display images of the environment of the work machine. The system may also include an operator assist module configured for augmenting the information with a feature delineator.

System and method for assisting remote operation of a work machine

A payload detection system for automated payload tip-off of a loading operation includes a tip-off controller. The tip-off controller is configured to receive a signal of a remaining payload target; receive a signal of a material weight within an implement and a signal of an angle of the implement; and determine a tip-off threshold based on the material weight and the remaining payload target. The tipoff controller initiates a bulk dump sequence if a difference between the material weight and the remaining payload target is greater than the tip-off threshold and initiates a slow dump sequence if the difference is below the tip-off threshold. The bulk dump sequence includes a single implement actuation to induce material spill until the tip-off threshold is met and the material is staged. The slow dump sequence includes a plurality of dump then rack actuations to induce and then prevent material spill until the remaining payload target is met, each dump actuation having an associated dump angle and each successive dump angle is progressively smaller.

System and method for automated payload target tipoff

A method for calibrating an acceleration sensor coupled to a machine may comprise: at a first position of a linkage of the machine, obtaining a first acceleration measurement from the acceleration sensor and obtaining from an input a first force value indicative of a first force on the linkage; at a second position of the linkage of the machine, obtaining a second acceleration measurement from the acceleration sensor and obtaining from the input a second force value indicative of a second force on the linkage; determining a rotational offset calibration value of the acceleration sensor as a function of the first acceleration measurement, the first force value, the second acceleration measurement, and the second force value; and using the rotational offset calibration value to calibrate the acceleration sensor.

Systems and methods for calibrating an acceleration sensor using a payload system

A breather assembly is disclosed for use with a fluid tank. The breather assembly may include a mounting collar having a first end and an opposing second end. The first end of the mounting collar may be connected to a distal end of a fluid tank spout. The breather assembly may also include a breather insert connected to the mounting collar. The breather insert may have a perforated screen extending a distance past a base end of the fluid tank spout. The breather assembly may further include a breather cap having a first end and an opposing second end. The first end of the breather cap may be connected to the breather insert. The breather cap may also have a passage in common with a hollow center of the mounting collar.

Tank breather assembly and mounting configuration

A hydraulic system for a machine is disclosed. The hydraulic system may include a fluid tank, a first manifold, a valve body, a second manifold, and a plurality of conduits. The first manifold may be operatively attached to the fluid tank and have at least two inlets and at least one outlet in fluid communication with the fluid tank. The number of the at least one outlet may be less than the number of the at least two inlets. The second manifold may be operatively attached to the valve body and have at least one inlet in fluid communication with the valve body and at least two outlets. The number of the at least one inlet may be less than the number of the at least two outlets. The plurality of conduits may fluidly connect the at least two inlets of the first manifold and the at least two outlets of the second manifold.

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Naperville, IL, United States of America

Shaun D Currier