Caterpillar Inc.

Steven Conrad Budde

Brian Douglas Hoff

Brad Robert Van De Veer

Amit Sharma

Benjamin B Schmuck

Rajeev Kumar

Brad Van De Veer

Aaron Robert Shatters

Eric Hughes

Robert E Stone

John Thomas Reedy

Jeremy J Diaz

Matt I Moul

Raghavendra Boloor

Merritt P Callaghan

Marvin K Palmer

SriVidya Lavanya Kamisetty

Robert L Stamate

Douglas Jay Husted

Joseph E Forcash

Joel Robert Grimes

Wayne Harshberger

Rafael R Dela Rosa

Lalit S Deshpande

Christopher Lee Mays

Jamie Lance McClintock

Satish L Kale

Justin Philip Pahl

Brian W Tracy

Curtis Maas

Joel C Weber

Norman R Miller

Eric C Hughes

A controller may identify a command to move an implement in a particular direction and an amount of time for the implement to move in the particular direction. The controller may determine an estimated velocity of the implement moving in the particular direction. The controller may determine a predicted travel distance of the implement in the particular direction. The controller may cause, based on a stop position associated with the particular direction and the predicted travel distance of the implement in the particular direction, the implement to move from a current position to a reset position. The controller may cause the command to be executed to cause the implement to move, in the particular direction and for the amount of time, from the reset position to another position without hitting the stop position associated with the particular direction.

Implement travel prediction for a work machine

A control may obtain first data related to a plurality of positions of an implement of a work machine during a first time period and may determine, based on the first data, a first noise value related to at least one velocity of the implement for the first time period. The control device may obtain second data related to a plurality of positions of the implement during a second time period and may determine, based on the second data, a second noise value related to at least one velocity of the implement for the second time period. The control device may determine, based on the first noise value and the second noise value, a start of motion of the implement. The control device may cause, based on determining the start of motion of the implement, the implement to be calibrated.

Determining a noise based start of motion of an implement of a work machine

A secondary control device may obtain main control information regarding an implement. The secondary control device may obtain monitoring information regarding the implement. The secondary control device may determine, using a first reduced functionality processing technique, secondary control information regarding the implement based on the monitoring information. The secondary control device may determine, using a second functionality processing technique, based on the main control information, the monitoring information, or the secondary control information, that a critical error associated with the implement has occurred. The secondary control device may determine a circumstance associated with the critical error. The secondary control device may select, based on determining the circumstance, a control technique and may control the implement using the control technique.

Efficient secondary control device for a work machine

An controller uses one of several transfer curves to map steering angle of an articulated machine to articulation angle. Because an articulated machine may have a range of steering angles that is much greater than the range of articulation angles, the controller uses one of several techniques to map the full range of steering angles to the full range of articulation angles. One technique involves multiple non-zero slope regions, another technique uses a less than one-to-one linear transfer function of steering angle to articulation angle.

Articulation covering complete range of steering angles in automatic articulation feature

Activation of an automatic articulation control function in an articulated machine is delayed until error conditions are cleared or a steering angle to alignment angle mismatch is corrected. A controller monitors a selector setting indicating a desire to activate the automatic articulation control function. The controller also evaluates whether conditions such as low ground speed, loss of signal from needed sensors, or articulation misalignment are present. If so, the conditions are monitored and when corrected, the automatic articulation control function is activated. An indicator may be set to inform an operator that the automatic articulation control function is pending activation.

Automatic articulation failure mode protection

When engaged, an articulation controller automatically adjusts an angle of articulation between a front frame and a rear frame of a motor grader based on a steering angle of the front wheels. If a groundspeed of the motor grader exceeds a threshold groundspeed, the articulation controller enters a mode that only allows decreasing the angle of articulation of the motor grader. When the angle of articulation reaches zero, the articulation controller disengages until the groundspeed is reduced below the threshold groundspeed.

Automatic articulation behavior during error and high speed conditions

An articulation control system for a machine may include an actual steering sensor configured to provide a signal indicative of an actual steering angle, a timer configured to provide a signal indicative of an elapsed predetermined period of time, and a controller in communication with the actual steering sensor and the timer. The controller may be configured to regulate automatic articulation to zero based on signals received from the actual steering sensor and the timer.

Dynamic deadband for automatic articulation

A controller monitors groundspeed in an articulated machine and selectively disables an automatic articulation control function when the groundspeed is at or near zero. If there is an indication that an operator may not be aware that the automatic articulation control function is active by comparing when a on switch was activated compared to a machine power cycle or an operator not being present, the automatic articulation control function may be inactivated until the on switch is toggled. If the articulated machine is in neutral and the groundspeed is at or near zero, the automatic articulation control function may disabled. If the groundspeed is at or near zero but the transmission is not in neutral, the machine may simply be stalled to due working conditions and the automatic articulation control function may be maintained.

Automatic articulation machine states

An apparatus and method are provided for operating a motor grader having steerable front wheels and a front and rear frame pivotally connected at an articulation joint. The method includes selecting an automatic articulation mode, and commanding front wheel steering to turn the motor grader, providing a plurality of front wheel steering corrections to an electronic controller, filtering the plurality of front wheel steering corrections using a method for filtering steering corrections based on the constant curve mode, wherein the method generates filtered front wheel steering corrections, and automatically commanding articulation of the front frame relative to the rear frame about the articulation joint in response to the filtered front wheel steering corrections.

Path detection-based steering command filtering method for motor grader automatic articulation feature

A machine includes a plurality of ground engaging elements and an operator control station supported on a frame. A work tool is pivotably attached to the frame using a lift arm assembly and a tilt linkage. At least one device measures a quantity associated with at least one of the lift arm assembly, the tilt linkage, and the work tool. An electronic controller, in communication with an operator display and the at least one device. The electronic controller is configured to store an operator selected orientation of the work tool, calculate a current orientation of the work tool based on the quantity, and calculate a deviation of the current orientation from the operator selected orientation. A visual representation of the deviation is displayed on the operator display.

Method and system for calculating and displaying work tool orientation and machine using same

A hydraulic system is disclosed. The hydraulic system may have a pump, a lift actuator, a lift valve arrangement, a tilt actuator, a tilt valve arrangement, and a tilt angle sensor configured to generate a first signal. The hydraulic system may further have at least one operator interface device movable to generate a second signal indicative of a desired lift velocity and a third signal indicative of desired tilt velocity, and a controller. The controller may be configured to command the lift valve arrangement to meter pressurized fluid based on the second signal, command the tilt valve arrangement to meter pressurized fluid based on the third signal and, when the first signal indicates that the actual tilt angle has entered a specified range of tilt angles during lifting, command the tilt valve arrangement to meter pressurized fluid based on the second signal as the actual tilt angle remains within the specified range.

System implementing parallel lift for range of angles

A hydraulic system for lifting a work tool of a mobile machine is disclosed. The hydraulic system may have a pump, a lift actuator, a lift valve arrangement, and a lift sensor configured to generate a first signal indicative of an actual lift velocity. The hydraulic system may also have a tilt actuator, a tilt valve arrangement, and at least one operator interface device movable to generate a second signal indicative of a desired lift velocity and a third signal indicative of desired tilt velocity. The hydraulic system may further have a controller configured to command the lift valve arrangement to meter pressurized based on the second signal, command the tilt valve arrangement to meter pressurized fluid based on the third signal, and command the tilt valve arrangement to meter pressurized fluid and maintain a desired tilt angle of the work tool during lifting based selectively on the first and second signals.

Lift system implementing velocity-based feedforward control

A linkage control system for a machine having a linkage and a work implement is disclosed. The linkage control system has an operator input device configured to control the movement of the linkage, at least one actuator configured to respond to the operator input device to control the movement of the linkage, and at least one sensor configured to generate a signal indicative of sensor data on at least one actuator. The linkage control system has a controller in communication with at least one actuator, at least one sensor, and the operator input device. The controller is configured to calculate the position of the linkage, to detect anomalous sensor data from at least one sensor, and to predict the position of the linkage and work implement based on a last known accurate position, a last known accurate sensor data, and the operator input device.

Linkage control system with position estimator backup

A machine configured to prevent unintentional motion in a linkage pivotally connected to a frame may include a first hydraulic actuator connected to the linkage and a second hydraulic actuator connected to the linkage. The machine may include a sensor and an electronic control module in communication with the sensor. The electronic control module may be configured to close a valve of the first hydraulic cylinder and/or cancel an actuation command to one of the first hydraulic actuator and the second hydraulic actuator in response to the electronic control module determining unintentional motion of the linkage has occurred based on the sensor.

Growing community of inventors

Peoria, IL, United States of America

Steven Conrad Budde