Stability control system for machine in motion

• US 10,087,603 B2
• Filed: 09/28/2016
• Issued: 10/02/2018
• Est. Priority Date: 09/28/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Mitchell, Michael D., Robinson, Mark A., Plecker, Adam M.
• Primary Examiner(s): Brushaber, Frederick M
• Application Number:
  US15/278,054
• Publication Number:
  US 20180087242A1
• Time in Patent Office: 734 Days
• Field of Search: None
• 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 15/02 Steering position indicators ; Steering position determination; Steering aids
• CPC Class Codes: B62D 5/10 characterised by type of power unit
• CPC Class Codes: B62D 6/02 responsive only to vehicle speed
• CPC Class Codes: B62D 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
• CPC Class Codes: E02F 3/431 for bucket-arms, front-end loaders, dumpers or the like
• CPC Class Codes: E02F 9/2029 Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence
• CPC Class Codes: E02F 9/2087 Control of vehicle steering for steering with hydraulic or pneumatic drives E02F9/225

Abstract

A system may comprise a plurality of sensors configured to transmit sensor information regarding a speed of a machine, a position of an implement of the machine, a payload of the machine, a grade of a surface on which the machine is traveling. The system may further comprise an electronic control module configured to receive steering command information regarding a steering command of the machine; determine, based on the steering command information, one or more articulation parameters associated with the steering command, determine the speed, the position of the implement, the payload, and the grade based on the sensor information. The electronic control module may be configured to determine one or more articulation parameters thresholds based on the speed, the position of the implement, and the payload of the machine; and modify the steering command when the one or more articulation parameters exceeds the one or more articulation parameters thresholds.

Claims

1. A method comprising:

receiving, by an electronic control module of a machine, steering command information regarding a steering command of the machine;

determining, by the electronic control module and based on the steering command information, an articulation angle of the machine or an articulation rate of the machine,

the articulation angle and the articulation rate being associated with the steering command,

determining, by the electronic control module, a speed of the machine based on information from a first sensor;

determining, by the electronic control module, a position of an implement of the machine based on information from a second sensor;

determining, by the electronic control module, a payload of the machine based on information from a third sensor;

determining by the electronic control module, a grade of a surface on which the machine is traveling;

determining, by the electronic control module, an articulation angle threshold or an articulation rate threshold based on the speed of the machine, the position of the implement of the machine, the payload of the machine, and the grade;

determining, by the electronic control module, whether the articulation angle exceeds the articulation angle threshold or whether the articulation rate exceeds the articulation rate threshold; and

modify, by the electronic control module, the steering command to modify the articulation angle of the machine when the articulation angle exceeds the articulation angle threshold or to modify the articulation rate of the machine when the articulation rate exceeds the articulation rate threshold.

2. The method of claim 1, wherein modifying the steering command includes decreasing the articulation angle.

3. The method of claim 1, wherein modifying the steering command includes decreasing the articulation rate.

4. The method of claim 1, wherein determining the payload of the machine includes determining a weight of the payload of the machine, and

wherein determining the articulation angle threshold or the articulation rate threshold includes determining the articulation angle threshold or the articulation rate threshold based on the speed of the machine, the position of the linkage of the machine, and the weight of the payload of the machine.

5. The method of claim 1, wherein determining the position of the implement of the machine includes determining a height of the implement of the machine, and

wherein determining the articulation angle threshold or the articulation rate threshold includes determining the articulation angle threshold or the articulation rate threshold based on the speed of the machine, the height of the implement of the machine, and the payload of the machine.

6. The method of claim 1, wherein receiving the steering command information includes receiving the steering command from one or more components associated with an electrohydraulic steering wheel of the machine.

7. The method of claim 1, further comprising providing for display:

information indicating that the steering command has been modified.

8. The method of claim 1, further comprising providing for display at least one of:

information indicating a manner in which the steering command has been modified, or

information indicating a reason for modifying the steering command.

9. A system comprising:

a plurality of sensors configured to transmit sensor information regarding a speed of a machine, a position of an implement of the machine, a payload of the machine, and a grade of a surface on which the machine is traveling; and

an electronic control module configured to;

receive steering command information regarding a steering command of the machine;

determine, based on the steering command information, one or more articulation parameters of the machine,

the one or more articulation parameters being associated with the steering command,

determine the speed of the machine, the position of the implement of the machine, the payload of the machine, and the grade based on the sensor information;

determine one or more articulation parameters thresholds based on the speed of the machine, the position of the implement of the machine, and the payload of the machine;

determine whether the one or more articulation parameters exceed the one or more articulation parameters thresholds; and

modify the steering command to modify the one or more articulation parameters of the machine when the one or more articulation parameters exceed the one or more articulation parameters thresholds.

10. The system of claim 9, wherein, when modifying the steering command, the electronic control module is to decrease an articulation angle of the machine.

11. The system of claim 9, wherein, when modifying the steering command, the electronic control module is to decrease a speed of rotation of the machine to achieve an articulation angle of the machine, and

wherein the decreased speed of rotation of the machine is less than a speed of rotation of the steering command.

12. The system of claim 9, wherein the payload of the machine includes a payload placed on the implement of the machine,

wherein, determining the payload of the machine, includes determining a weight of the payload placed on the implement of the machine, and

wherein, when determining the one or more articulation parameters thresholds, the electronic control module is to determine the one or more articulation parameters thresholds based on the speed of the machine, the position of the implement of the machine, and the weight of the payload placed on the implement of the machine.

13. The system of claim 9, wherein, when determining the position of the implement of the machine, the electronic control module is to determine a height of the implement of the machine, and

wherein, when determining the one or more articulation parameters thresholds, the electronic control module is to determine the one or more articulation parameters thresholds based on the speed of the machine, the height of the implement of the machine, and the payload of the machine.

14. The system of claim 9, wherein, when receiving the steering command information, the electronic control module is to receive the steering command from one or more components associated with an electrohydraulic steering wheel of the machine.

15. The system of claim 9, wherein the electronic control module is further configured to provide for display

information indicating that the steering command has been modified.

16. The system of claim 15, wherein the electronic control module is further configured to provide for display at least one of:

information indicating a manner in which the steering command has been modified, or

information indicating a reason for modifying the steering command.

17. A machine comprising:

a plurality of sensors configured to transmit information regarding a speed of the machine, a position of an implement of the machine, a payload placed on the implement, and a grade of a surface on which the machine is traveling; and

an electronic control module configured to;

receive steering command information regarding a steering command of the machine;

determine, based on the steering command information, one or more articulation parameters of the machine,

the one or more articulation parameters being associated with the steering command,

determine the speed of the machine, the position of the implement of the machine, the payload of the machine, and the grade based on the information regarding the speed of the machine, the position of the implement of the machine, the payload, and the grade;

determine one or more articulation parameters thresholds based on the speed of the machine, the position of the implement of the machine, the payload, and the grade; and

modify the steering command to modify the one or more articulation parameters of the machine when the one or more articulation parameters exceeds the one or more articulation parameters thresholds.

18. The machine of claim 17, wherein, when modifying the steering command, the electronic control module is to:

decrease an articulation angle of the machine;

or

decrease an articulation rate of the machine.

19. The machine of claim 17, wherein, when receiving the steering command information, the electronic control module is to receive the steering command from one or more components associated with an electrohydraulic steering wheel of the machine.

20. The machine of claim 19, wherein, when determining the position of the implement of the machine, the electronic control module is to determine a height of the implement of the machine, and

wherein, when determining the one or more articulation parameters thresholds, the electronic control module is to determine the one or more articulation parameters thresholds based on the speed of the machine, the height of the implement of the machine, and the payload of the machine.