US 12,123,162 B2
System, method, and apparatus for accurately determining payload transfer
Yozo Nakamoto, Akashi (JP); Michio Aoki, Akashi (JP); Keisuke Shirani, Akashi (JP); Koichi Murata, Akashi (JP); and Kensuke Tanaka, Akashi (JP)
Assigned to Caterpillar SARL, Geneva (CH)
Filed by Caterpillar SARL, Geneva (CH)
Filed on Sep. 29, 2021, as Appl. No. 17/488,298.
Prior Publication US 2023/0095687 A1, Mar. 30, 2023
Int. Cl. E02F 3/00 (2006.01); E02F 3/43 (2006.01); E02F 9/00 (2006.01); E02F 9/20 (2006.01); E02F 9/26 (2006.01)
CPC E02F 3/432 (2013.01) [E02F 9/2029 (2013.01); E02F 9/265 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A working machine comprising:
a chassis;
an operator station supported by the chassis, the operator station including an operator interface and a manual controller to control the working machine;
a grapple supported by the chassis, the grapple and the operator station being rotatable about an axis in an overhead plan view of the working machine, and the grapple being radially extendable and retractable to and from outermost and innermost positions, respectively; and
a controller configured to
control movement of the grapple responsive to operator input using the manual controller of the of the operator station,
determine a position of the grapple relative to predetermined working and dumping areas for the working machine defined by at least one preset boundary between the working area and the dumping area,
identify a candidate dumping event for the grapple based on a decrease in a load on the grapple,
determine whether the determined position of the grapple is in the working area or the dumping area responsive to the identification of the candidate dumping event,
characterize the candidate dumping event as an invalid dumping event and maintain a dump material payload count in a first case where the determined position of the grapple is in the working area upon the identification of the candidate dumping event, and
characterize the candidate dumping event as a valid dumping event and increase the dump material payload count in a second case where the determined position of the grapple is in the dumping area upon the identification of the candidate dumping event.