Abstract: A method for identifying objects by shape in close proximity to other objects of different shapes obtains point cloud information of multiple objects. The objects are arranged in at least two trays and the trays are stacked. A depth image of the objects is obtained according to the point cloud information, and the depth image of the objects is separated and layered to obtain a layer information of all the objects. An object identification system also disclosed. Three-dimensional machine vision is utilized in identifying the objects, improving the accuracy of object identification, and enabling the mechanical arm to accurately grasp the required object.

Abstract: A hybrid controller unit includes a detection module, a gear-hold module, a gear-skip module, and an optimizing module. The detection module is structured to detect a deceleration event. The gear-hold module is structured to determine whether a certain gear of a transmission should be maintained for a certain period of time in order to optimize power regeneration during the deceleration event. The gear-hold module is also structured to generate a gear-hold request. The gear-skip module is structured to determine whether the transmission should skip a gear in order to optimize power regeneration during the deceleration event. The gear-skip module is also structured to generate a gear-skip request. The optimizing module is structured to receive the gear-hold request and the gear-skip request and generate a transmission command to be sent to a transmission control unit for actuation.

Abstract: Apparatuses, methods and systems for hybrid powertrain control are disclosed. Certain example embodiments control an internal combustion engine and a motor/generator of a hybrid electric powertrain. Example controls may determine a total output demanded of a powertrain based at least in part upon an operator input, a battery output target based upon a battery state of charge and independent of the operator input, and an engine output target based upon the total output demanded and the battery output target. Such example controls may further determine a constrained engine output target, a modified battery output target based upon the total output demanded and the constrained engine output target, and a constrained battery output target based upon the modified battery output target and a battery constraint. Further embodiments, forms, objects, features, advantages, aspects, and benefits shall become apparent from the following description and figures.

Abstract: A hybrid controller unit includes a detection module, a gear-hold module, a gear-skip module, and an optimizing module. The detection module is structured to detect a deceleration event. The gear-hold module is structured to determine whether a certain gear of a transmission should be maintained for a certain period of time in order to optimize power regeneration during the deceleration event. The gear-hold module is also structured to generate a gear-hold request. The gear-skip module is structured to determine whether the transmission should skip a gear in order to optimize power regeneration during the deceleration event. The gear-skip module is also structured to generate a gear-skip request. The optimizing module is structured to receive the gear-hold request and the gear-skip request and generate a transmission command to be sent to a transmission control unit for actuation.

Abstract: Apparatuses, methods and systems for hybrid powertrain control are disclosed. Certain example embodiments control an internal combustion engine and a motor/generator of a hybrid electric powertrain. Example controls may determine a total output demanded of a powertrain based at least in part upon an operator input, a battery output target based upon a battery state of charge and independent of the operator input, and an engine output target based upon the total output demanded and the battery output target. Such example controls may further determine a constrained engine output target, a modified battery output target based upon the total output demanded and the constrained engine output target, and a constrained battery output target based upon the modified battery output target and a battery constraint. Further embodiments, forms, objects, features, advantages, aspects, and benefits shall become apparent from the following description and figures.

Abstract: A hybrid transmission includes torque machines and an energy storage device connected thereto. Thee hybrid transmission is operative to transfer power between an input member and an output member and the torque machines. A method for controlling the hybrid transmission includes monitoring operating parameters of the hybrid transmission, monitoring an operator demand for power, determining an output torque range to the output member based upon states of the operating parameters of the hybrid transmission, constraining the output torque range to the output member based upon the operator demand for power, and determining input torque constraints to the input member based upon the constrained output torque range to the output member.

Abstract: A hybrid transmission is operative to transfer torque between an input member and torque machines and an output member in one of a plurality of fixed gear and continuously variable operating range states through selective application of torque transfer clutches. The torque machines are operative to transfer power from an energy storage device. A method for controlling the hybrid transmission includes operating the hybrid transmission in one of the operating range states, determining a first set of internal system constraints on output torque transferred to the output member, determining a second set of internal system constraints on the output torque transferred to the output member, and determining an allowable output torque range that is achievable within the first set of internal system constraints and the second set of internal system constraints on the output torque transferred to the output member.

Abstract: A hybrid transmission is operative to transfer power between an input member and first and second torque machines and an output member in a fixed gear operating range state. The first and second torque machines are connected to an energy storage device.

Abstract: A powertrain including an electro-mechanical transmission mechanically-operatively coupled to an internal combustion engine and first and second electric machines to transmit power to an output member is disclosed. A method for controlling the electro-mechanical transmission includes determining minimum and maximum motor torque constraints for the first and second electric machines, and determining available battery power in terms of battery power constraints. One of a first, a second and a third case is determined based upon the motor torque constraints and the battery power constraints. A preferred output torque is determined for transmitting to the output member of the electro-mechanical transmission.

Abstract: A hybrid transmission includes a torque machine and an energy storage device connected thereto. The hybrid transmission is operative to transfer power between an input member and an output member and the torque machines in a fixed gear operating range state.

Abstract: Operation of an electro-mechanical transmission includes determining motor torque constraints and battery power constraints. An additional constraint on the electro-mechanical transmission is determined. A preferred output torque is determined that is achievable within the motor torque constraints and based upon the additional constraint and the battery power constraints.

Abstract: A method to control an electro-mechanical transmission mechanically-operatively coupled to an internal combustion engine and first and second electric machines to transmit power to an output member includes determining motor torque constraints and battery power constraints. A preferred output torque to an output member is determined that is achievable within the motor torque constraints and is achievable within a range for a first torque input and is achievable within a range for a second torque input and is based upon the battery power constraints.

Abstract: A hybrid transmission includes a torque machine and an energy storage device connected thereto. The hybrid transmission is operative to transfer power between an input member and an output member and the torque machine in a continuously variable operating range state.

Abstract: A method for controlling an electro-mechanical transmission mechanically coupled to first and second electric machines to transmit power to an output member includes determining motor torque constraints and battery power constraints. A preferred output torque to an output member is determined that is achievable within the motor torque constraints, within a range for an additional torque input and based upon the battery power constraints.

Abstract: A powertrain system includes a transmission operative to transfer power between an input member and first and second torque machines and an output member. The first and second torque machines are connected to an energy storage device and the transmission is operative in a continuously variable operating range state.

Abstract: A method to determine a limit torque associated with an electro-mechanical transmission includes determining electric motor torque constraints and battery power constraints. A limit torque function and a standard form of the limit torque function are determined. The limit torque function and the motor torque constraints and the battery power constraints are transposed to the standard form to determine a limit torque.

Abstract: A method for controlling an electromechanical transmission mechanically coupled to first and second electric machines to transmit power to an output member includes determining motor torque constraints and battery power constraints. A preferred output torque to an output member is determined that is achievable within the motor torque constraints, within a range for an additional torque input and based upon the battery power constraints.

Abstract: A method to control an electro-mechanical transmission mechanically-operatively coupled to an internal combustion engine and first and second electric machines to transmit power to an output member includes determining motor torque constraints and battery power constraints. A preferred output torque to an output member is determined that is achievable within the motor torque constraints and is achievable within a range for a first torque input and is achievable within a range for a second torque input and is based upon the battery power constraints.

Abstract: A hybrid transmission is operative to transfer torque between an input member and torque machines and an output member in one of a plurality of fixed gear and continuously variable operating range states through selective application of torque transfer clutches. The torque machines are operative to transfer power from an energy storage device. A method for controlling the hybrid transmission includes operating the hybrid transmission in one of the operating range states, determining a first set of internal system constraints on output torque transferred to the output member, determining a second set of internal system constraints on the output torque transferred to the output member, and determining an allowable output torque range that is achievable within the first set of internal system constraints and the second set of internal system constraints on the output torque transferred to the output member.

Abstract: A hybrid transmission includes a torque machine and an energy storage device connected thereto. The hybrid transmission is operative to transfer power between an input member and an output member and the torque machine in a continuously variable operating range state.