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1. 发明申请

WO2021150534A1 IMPLEMENT TRAVEL PREDICTION FOR A WORK MACHINE 审中-公开
公开(公告)号：WO2021150534A1
公开(公告)日：2021-07-29
申请号：PCT/US2021/014069
申请日：2021-01-20
申请人： CATERPILLAR INC.
发明人： SHARMA, Amit , BOLOOR, Raghavendra , BUDDE, Steven C. , DIAZ, Jeremy J.
IPC分类号： E02F9/22 , F15B11/02 , G05B19/02 , E02F3/76 , E02F3/7609 , E02F3/844 , E02F9/2033 , E02F9/2214 , E02F9/265 , G05D1/0223 , G05D2201/0201
摘要： 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.

2. 发明申请

WO2016003734A1 DYNAMIC DEADBAND FOR AUTOMATIC ARTICULATION 审中-公开
标题翻译：动态死亡自动化
公开(公告)号：WO2016003734A1
公开(公告)日：2016-01-07
申请号：PCT/US2015/037483
申请日：2015-06-24
申请人： CATERPILLAR INC.
发明人： SHARMA, Amit , BUDDE, Steven C.
IPC分类号： B62D6/00 , B62D11/02 , B62D57/00 , E02F9/20 , E02F9/08 , E02F3/76
CPC分类号： E02F9/225 , B62D9/00 , B62D12/00 , E02F3/764 , E02F9/0841
摘要： An articulation control system (70) for a machine (20) may include an actual steering sensor (80) configured to provide a signal indicative of an actual steering angle, a timer (82) configured to provide a signal indicative of an elapsed predetermined period of time, and a controller (72) in communication with the actual steering sensor (80) and the timer (82). The controller (72) may be configured to regulate automatic articulation to zero based on signals received from the actual steering sensor (80) and the timer (82).
摘要翻译：用于机器（20）的关节运动控制系统（70）可以包括被配置为提供指示实际转向角的信号的实际转向传感器（80），定时器（82）被配置为提供指示经过的预定周期和与实际转向传感器（80）和定时器（82）通信的控制器（72）。控制器（72）可以被配置为基于从实际转向传感器（80）和定时器（82）接收的信号来将自动关节运动调节到零。

3. 发明申请

WO2015142452A1 ARTICULATION COVERING COMPLETE RANGE OF STEERING ANGLES IN AUTOMATIC ARTICULATION FEATURE 审中-公开
标题翻译：自动化设计中转向角的完整范围
公开(公告)号：WO2015142452A1
公开(公告)日：2015-09-24
申请号：PCT/US2015/016254
申请日：2015-02-18
申请人： CATERPILLAR INC.
发明人： SHARMA, Amit , BUDDE, Steven, C. , MAAS, Curtis , MOUL, Matt, I.
IPC分类号： B62D6/00 , E02F9/20
CPC分类号： E02F9/2087 , B62D9/00 , B62D12/00 , E02F3/7659 , E02F9/0841 , E02F9/225 , G05B13/02
摘要： An controller (102) uses one of several transfer curves (400, 408, 420, 430) to map steering angle of an articulated machine (10) to articulation angle. Because an articulated machine (10) may have a range of steering angles that is much greater than the range of articulation angles, the controller (102) 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.
摘要翻译：控制器（102）使用多个传递曲线（400,408,420,430）中的一个将铰接机器（10）的转向角映射到关节角度。由于铰接机器（10）可以具有比接合角度范围大得多的转向角范围，所以控制器（102）使用几种技术之一来将整个范围的转向角映射到关节角度的全范围。一种技术涉及多个非零斜率区域，另一种技术使用转向角与关节角度的小于一对一的线性传递函数。

4. 发明申请

WO2015142534A1 AUTOMATIC ARTICULATION BEHAVIOR DURING ERROR AND HIGH SPEED CONDITIONS 审中-公开
标题翻译：在错误和高速条件下的自动设计行为
公开(公告)号：WO2015142534A1
公开(公告)日：2015-09-24
申请号：PCT/US2015/018916
申请日：2015-03-05
申请人： CATERPILLAR INC.
发明人： SHARMA, Amit , BUDDE, Steven C. , VAN DE VEER, Brad Robert
IPC分类号： B62D12/00 , B62D9/00 , B62D53/04 , E02F9/08 , E02F9/20
CPC分类号： E02F9/2087 , B62D6/003 , B62D6/02 , B62D9/00 , B62D12/00 , E02F3/7659 , E02F9/0841 , E02F9/225
摘要： When engaged, an articulation controller (102) automatically adjusts an angle of articulation between a front frame (12) and a rear frame (14) of a motor grader (10) based on a steering angle of the front wheels (58; 60). If a groundspeed of the motor grader (10) exceeds a threshold groundspeed, the articulation controller (102) enters a mode that only allows decreasing the angle of articulation of the motor grader (10). When the angle of articulation reaches zero, the articulation controller disengages until the groundspeed is reduced below the threshold groundspeed.
摘要翻译：当接合时，关节运动控制器（102）基于前轮（58; 60）的转向角自动地调节马达分级机（10）的前框架（12）和后框架（14）之间的铰接角度，。如果自动平地机（10）的地速超过阈值地速，则关节运动控制器（102）进入仅允许减小自动平地机（10）的铰接角度的模式。当关节角度达到零时，关节运动控制器脱离直到地速下降到阈速度以下。

5. 发明申请

WO2015142458A1 AUTOMATIC ARTICULATION MACHINE STATES 审中-公开
标题翻译：自动装订机
公开(公告)号：WO2015142458A1
公开(公告)日：2015-09-24
申请号：PCT/US2015/016312
申请日：2015-02-18
申请人： CATERPILLAR INC.
发明人： SHARMA, Amit , BUDDE, Steven C. , MOUL, Matt I. , VAN DE VEER, Brad Robert , HUGHES, Eric C.
IPC分类号： E02F3/76 , E02F3/84
CPC分类号： E02F9/2033 , B60Y2200/411 , B62D6/002 , B62D11/183 , B62D12/00 , E02F3/7659 , E02F9/0841 , E02F9/2087 , E02F9/225
摘要： A controller (102) monitors groundspeed in an articulated machine (10) 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 mode selector (110) was activated compared to a machine power cycle or an operator not being present, the automatic articulation control function may be inactivated until the mode selector (110) is toggled. If the articulated machine (10) 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 (10) may simply be stalled to due working conditions and the automatic articulation control function may be maintained.
摘要翻译：控制器（102）监测铰接机器（10）中的地速，并且当地速为零或接近零时，选择性地禁用自动关节运动控制功能。如果通过比较模式选择器（110）何时与机器功率循环相关或不存在的操作者进行比较，操作员可能不知道自动关节控制功能是活动的指示，则自动关节运动控制功能可以被禁用，直到模式选择器（110）被切换为止。如果铰接机器（10）处于空档状态，并且速度处于或接近于零，则自动关节运动控制功能可能会被禁用。如果地面速度处于或接近零但变速器不处于空档状态，则机器（10）可能会被简单地停止到适当的工作条件，并且可以保持自动关节运动控制功能。

6. 发明申请

WO2021150533A1 METHOD OF CALIBRATION OF AN IMPLEMENT OF A WORK MACHINE 审中-公开
公开(公告)号：WO2021150533A1
公开(公告)日：2021-07-29
申请号：PCT/US2021/014067
申请日：2021-01-20
申请人： CATERPILLAR INC.
发明人： SHARMA, Amit , BUDDE, Steven C. , DIAZ, Jeremy J. , BOLOOR, Raghavendra
IPC分类号： E02F9/26 , G01B21/04 , E02F3/84 , E02F3/844 , E02F9/264 , G01B21/042 , G01P13/00 , G01P3/00 , G05B19/401 , G05B2219/31304
摘要： 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.

7. 发明申请

WO2015142464A1 AUTOMATIC ARTICULATION FAILURE MODE PROTECTION 审中-公开
标题翻译：自动设计故障模式保护
公开(公告)号：WO2015142464A1
公开(公告)日：2015-09-24
申请号：PCT/US2015/016543
申请日：2015-02-19
申请人： CATERPILLAR INC.
发明人： SHARMA, Amit , BUDDE, Steven C. , VAN DE VEER, Brad Robert
IPC分类号： E02F3/76 , E02F3/84
CPC分类号： E02F9/2025 , B62D6/003 , E02F3/764 , E02F9/0841 , E02F9/2087 , E02F9/265
摘要： Activation of an automatic articulation control function in an articulated machine (10) is delayed until error conditions are cleared or a steering angle to alignment angle mismatch is corrected. A controller (102) monitors a selector (110) setting indicating a desire to activate the automatic articulation control function. The controller (102) 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 (204, 206) may be set to inform an operator that the automatic articulation control function is pending activation.
摘要翻译：铰接式机器（10）中的自动关节运动控制功能的激活被延迟，直到错误状况被清除或者对准角度不匹配的转向角度被校正。控制器（102）监视选择器（110）的设置，指示激活自动关节运动控制功能的愿望。控制器（102）还评估是否存在诸如地面速度低，所需传感器的信号丢失或关节错位的条件。如果是这样，则监视条件，并且在校正时，激活自动关节运动控制功能。可以设置指示器（204,206）以通知操作者自动关节运动控制功能正在等待激活。

8. 发明申请

WO2021150531A1 NOISE BASED SETTLING DETECTION FOR AN IMPLEMENT OF A WORK MACHINE 审中-公开
公开(公告)号：WO2021150531A1
公开(公告)日：2021-07-29
申请号：PCT/US2021/014065
申请日：2021-01-20
申请人： CATERPILLAR INC.
发明人： SHARMA, Amit
IPC分类号： E02F3/84 , E02F9/26 , E02F3/845 , E02F9/264 , E02F9/265
摘要： According to a method, data related to at least one position of an implement (116) of a work machine (100) that has moved to a set position is obtained. One or more first noise amplitudes associated with the data are identified and, based on the one or more first noise amplitudes, a noise band related to the implement vibrating at the set position is determined. One or more second noise amplitudes associated with the data are identified and, based on the noise band and the one or more second noise amplitudes, it is determined that the implement has settled at the set position. Based on determining that the implement has settled at the set position, the implement is allowed to move to another position.

9. 发明申请

WO2020159711A1 DETECTION OF UNINTENDED DIRECTIONAL MOVEMENT OF AN ARTICULATED IMPLEMENT OF A MACHINE 审中-公开
公开(公告)号：WO2020159711A1
公开(公告)日：2020-08-06
申请号：PCT/US2020/013771
申请日：2020-01-16
申请人： CATERPILLAR INC.
发明人： SHARMA, Amit
IPC分类号： E02F3/84 , E02F9/26 , E02F9/08 , B62D47/02 , B62D53/08
摘要： A motor grader is disclosed. The motor grader may include an articulated implement. The motor grader may include an articulation control device. The articulation control device may be configured to determine that articulation motion of the articulated implement is occurring, for a threshold amount of time, in a second direction that is different from a first direction indicated by an articulation control command. The articulation control device may be configured to perform a response action based on determining that articulation motion of the articulated implement is occurring, for the threshold amount of time, in the second direction that is different from the first direction indicated by the articulation control command.

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