Autonomous steering system for an articulated truck

• US 10,040,476 B2
• Filed: 11/02/2016
• Issued: 08/07/2018
• Est. Priority Date: 11/02/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Ge, Xinyu
• Primary Examiner(s): Camby, Richard M
• Application Number:
  US15/341,582
• Publication Number:
  US 20180118256A1
• Time in Patent Office: 643 Days
• CPC Class Codes: B62D 12/00 Steering specially adapted for vehicles operating in tandem or having pivotally connected frames steering endless tracks or the like B62D11/00; steering specially adapted for trailers B62D13/00
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00

Abstract

A control system for a steering a work machine is disclosed. The control system may include a steering input device configured to steer a lead machine module and an articulation module disposed between the lead machine module and a trailing machine module. The control system may further include a first articulation cylinder and a second articulation cylinder configured to actuate between a first and second cylinder first position and a first and second cylinder second position. Furthermore, an electronic controller in communication with the first and second articulation cylinders and programmed to transmit a control signal such that the first actuation cylinder actuates between the first actuation cylinder first position and the first actuation cylinder second position and the second actuation cylinder actuates between the second actuation cylinder first position and the second actuation cylinder second position.

Claims

1. A control system for steering a work machine, the control system comprising:

a steering input device configured to steer a lead machine module of the work machine;

an articulation module disposed between the lead machine module and a trailing machine module, the articulation module configured to pivotally couple the lead machine module and the trailing machine module about an articulation module pivot point;

a first articulation cylinder included in the articulation module and operably coupled to the lead machine module and the trailing machine module, the first articulation cylinder configured to actuate between a first cylinder first position and a first cylinder second position;

a second articulation cylinder included in the articulation module and operably coupled to the lead machine module and the trailing machine module, the second articulation cylinder configured to actuate between a second cylinder first position and a second cylinder second position; and

an electronic controller in electronic communication with the first articulation cylinder and the second articulation cylinder of the articulation module, the electronic controller programmed to transmit a control signal to each of the first articulation cylinder and the second articulation cylinder;

the control signal being transmitted to cause the first articulation cylinder to actuate between the first cylinder first position and the first cylinder second position and to cause the second articulation cylinder to actuate between the second cylinder first position and the second cylinder second position such that the lead machine module and the trailing machine module each pivot about the articulation module pivot point;

wherein the electronic controller includes an electronic route and location information system configured to receive a predefined route data set, wherein the electronic controller is programmed to transmit the control signal to the first articulation cylinder and the second articulation cylinder based on the predefined route data set.

2. The control system of claim 1, further comprising a first valve coupled to the first articulation cylinder and a second valve coupled to the second articulation cylinder;

and

wherein the control signal controls each of the first valve and the second valve such that the first articulation cylinder actuates in an opposite direction relative to the second articulation cylinder.

3. The control system of claim 1, wherein actuation of the first articulation cylinder and the second articulation cylinder forms an articulation angle between the lead machine module and the trailing machine module, the articulation angle being defined by an intersection of a lead machine longitudinal axis, of the lead machine module, with a trailing machine longitudinal axis, of the trailing machine module, at the articulation module pivot point.

4. The control system of claim 3, further comprising a first position sensor coupled to the first articulation cylinder and configured to monitor a first articulation cylinder position, a second position sensor coupled to the second articulation cylinder and configured to monitor a second articulation cylinder position, the first articulation cylinder position and the second articulation cylinder position transmitted to the electronic controller, and the electronic controller programmed to derive the articulation angle based on the first articulation cylinder position and the second articulation cylinder position.

5. The control system of claim 1, further including a machine parameter monitoring system in electronic communication with the electronic controller and configured to monitor and transmit at least one operation parameter to the electronic controller, and the electronic controller transmits the control signal to the first articulation cylinder and the second articulation cylinder based on the received at least one operation parameter of the work machine.

6. The control system of claim 1, wherein the electronic controller is operably selectable between an automatic operational mode and a semi-automatic operational mode, the automatic operational mode configured to instruct the electronic controller to automatically control the steering input device, the first articulation cylinder, and the second articulation cylinder, and the semi-automatic mode configured to allow manual control of the steering input device and automatic control of the first articulation cylinder and the second articulation cylinder.

7. A method of steering and maneuvering a work machine, the method comprising:

coupling a lead machine module to a trailing machine module with an articulation module disposed between the lead machine module and the trailing machine module;

attaching a first articulation cylinder of the articulation module to the lead machine module and the trailing machine module;

attaching a second articulation cylinder of the articulation module to the lead machine module and the trailing machine module;

programming a control signal with an electronic controller; and

transmitting the control signal to actuate the first articulation cylinder and the second articulation cylinder between a first cylinder first position and a first cylinder second position and a second cylinder first position and a second cylinder second position;

wherein the electronic controller is communicably coupled with an electronic route and location information system configured to receive a predefined route data set, and programming the control signal includes analyzing the predefined route data set and forming the control signal based on the predefined route data set.

8. The method of claim 7, further comprising a first valve coupled to the first articulation cylinder and a second valve coupled to the second articulation cylinder, wherein actuating the first articulation cylinder and the second articulation cylinder includes transmitting the control signal to the first valve and the second valve such that the first articulation cylinder actuates in an opposite direction relative to the second articulation cylinder.

9. The method of claim 7, wherein actuating the first articulation cylinder and the second articulation cylinder includes forming an articulation angle between the lead machine module and the trailing machine module and defining the articulation angle by an intersection of a lead machine longitudinal axis and a trailing machine longitudinal axis at an articulation module pivot point.

10. The method of claim 9, further comprising a first position sensor coupled to the first articulation cylinder configured to monitor a first articulation cylinder position, a second position sensor coupled to the second articulation cylinder configured to monitor a second articulation cylinder position, transmitting the first articulation cylinder position and the second articulation cylinder position to the electronic controller and deriving the articulation angle based on the first articulation cylinder position and the second articulation cylinder position received by the electronic controller.

11. The method of claim 7, further including a machine parameter monitoring system communicably coupled to the electronic controller and configured to monitor and transmit at least one operation parameter to the electronic controller, and transmitting the control signal to the first articulation cylinder and the second articulation cylinder based on the received at least one operation parameter of the work machine.

12. The method of claim 7, wherein the electronic controller is operably selectable between an automatic operational mode and a semi-automatic operational mode, the automatic operational mode configured to instruct the electronic controller to automatically control a steering input device, the first articulation cylinder, and the second articulation cylinder, and the semi-automatic mode configured to allow manual control of the steering input device and automatic control of the first articulation cylinder and the second articulation cylinder.

13. A work machine, comprising:

a lead machine module including a steering input device configured to steer the work machine;

at least one trailing machine module positioned behind the lead machine module and arranged in a train-like configuration;

an articulation module disposed between the lead machine module and the at least one trailing machine module, the articulation module configured to pivotally couple the lead machine module and the at least one trailing machine module such that the lead machine module and the at least one trailing machine module pivot about an articulation module pivot point;

a first articulation cylinder included in the articulation module and operably coupled to the lead machine module and the at least one trailing machine module, the first articulation cylinder configured to actuate between a first cylinder first position and a first cylinder second position;

a second articulation cylinder included in the articulation module and operably coupled to the lead machine module and the at least one trailing machine module, the second articulation cylinder configured to actuate between a second cylinder first position and a second cylinder second position; and

an electronic controller in electronic communication with the first articulation cylinder and the second articulation cylinder of the articulation module, the electronic controller programmed to transmit a control signal to each of the first articulation cylinder and the second articulation cylinder;

the control signal being transmitted to cause the first articulation cylinder to actuate between the first cylinder first position and the first cylinder second position and to cause the second articulation cylinder to actuate between the second cylinder first position and the second cylinder second position such that the lead machine module and the at least one trailing machine module pivot with respect to one another about the articulation module pivot point;

wherein the electronic controller is selectable between an automatic operational mode configured to instruct the electronic controller to automatically control the steering input device, the first articulation cylinder and the second articulation cylinder, and a semi-automatic operational mode configured to allow manual control of the steering input device and automatic control of the first articulation cylinder and the second articulation cylinder.

14. The work machine of claim 13, further comprising a first valve coupled to the first articulation cylinder and a second valve coupled to the second articulation cylinder;

and

wherein the control signal configured to control each of the first valve and the second valve such that the first articulation cylinder actuates in a opposite direction relative to the second articulation cylinder.

15. The work machine of claim 13, wherein actuation of the first articulation cylinder and the second articulation cylinder forms an articulation angle between the lead machine module and the trailing machine module, the articulation angle being defined by an intersection of a lead machine longitudinal axis, of the lead machine module, with a trailing machine longitudinal axis, of the trailing machine module, at the articulation module pivot point.

16. The work machine of claim 15, further comprising a first position sensor coupled to the first articulation cylinder and configured to monitor a first articulation cylinder position, a second position sensor coupled to the second articulation cylinder and configured to monitor a second articulation cylinder position, the first articulation cylinder position and the second articulation cylinder position transmitted to the electronic controller, and the electronic controller programmed to derive the articulation angle based on the first articulation cylinder position and the second articulation cylinder position received by the electronic controller.

17. The work machine of claim 16, wherein the electronic controller is communicably coupled with an electronic route and location information system and a machine parameter monitoring system which is configured to respectively transmit a predefined route data set and at least one machine parameter to the electronic controller, wherein the electronic controller analyzes the predefined route data set and the at least one machine parameter and creates the control signal based on the predefined route data set and the at least one machine parameter.