System for estimating a mass of a payload in a hauling machine

• US 10,094,704 B2
• Filed: 10/30/2015
• Issued: 10/09/2018
• Est. Priority Date: 10/30/2015
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Tejeda, Balmes, Jayachandran, Amit, Landes, James W.
• Primary Examiner(s): Barbee, Manuel L
• Application Number:
  US14/928,571
• Publication Number:
  US 20170122792A1
• Time in Patent Office: 1,075 Days
• CPC Class Codes: B60P 1/04 with a tipping movement of load-transporting element dredgers or soil-shifting machines E02F3/00
• CPC Class Codes: G01G 19/086 wherein the vehicle mass is dynamically estimated
• CPC Class Codes: G01G 19/12 having electrical weight-sensitive devices
• CPC Class Codes: G01G 19/414 using electronic computing means only
• CPC Class Codes: G07C 5/0808 Diagnosing performance data testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005

Abstract

A system for estimating a payload includes a torque sensor, a grade detector, and a machine acceleration sensor. A controller compares the angle of inclination to its threshold, compares the rate of change in the angle of inclination to its threshold, and compares the machine acceleration to its threshold. An estimate of the payload is determined based upon the output torque from the prime mover, the angle of inclination of the machine, and the unloaded mass but only if the angle of inclination of the machine is greater than the angle of inclination threshold, the rate of change in the angle of inclination is less than the inclination rate of change threshold, and the machine acceleration is less than the acceleration threshold.

Claims

1. A system for estimating a payload in a bed of a machine, the system comprising:

a torque sensor for determining an output torque from a prime mover;

a grade detector for determining an angle of inclination of the machine;

a sensor for determining machine acceleration; and

a controller configured to;

store an angle of inclination threshold;

store an inclination rate of change threshold;

store an acceleration threshold;

store an unloaded mass of the machine in an unloaded condition;

determine the output torque from the prime mover;

determine the angle of inclination of the machine based upon signals from the grade detector;

compare the angle of inclination of the machine to the angle of inclination threshold;

generate commands to drive the machine on a work surface wherein, when driving the machine, the angle of inclination of the machine is greater than the angle of inclination threshold;

determine a rate of change in the angle of inclination;

compare the rate of change in the angle of inclination to the inclination rate of change threshold;

generate commands to drive the machine on a work surface wherein, when driving the machine, the rate of change in the angle of inclination is less than the inclination rate of change threshold;

determine the machine acceleration;

compare the machine acceleration to the acceleration threshold;

generate commands to drive the machine on a work surface wherein, when driving the machine, the machine acceleration is less than the acceleration threshold; and

determine an estimate of the payload in the bed based on the output torque from the prime mover, the angle of inclination of the machine, and the unloaded mass while;

the angle of inclination of the machine is greater than the angle of inclination threshold;

the rate of change in the angle of inclination is less than the inclination rate of change threshold; and

the machine acceleration is less than the acceleration threshold.

2. The system of claim 1, wherein the controller is configured to determine the estimate of the payload without determining a change in inertia and a change of momentum.

3. The system of claim 1, wherein the controller is further configured to automatically determine the estimate of the payload after completion of one of a loading event of the bed and an emptying event of the bed.

4. The system of claim 3, therein the controller is further configured to reset the estimate of the payload upon completion of one of the loading event of the bed and the emptying event of the bed.

5. The system of claim 1, wherein the controller is further configured to control an operation of the machine while the machine is moving based upon the estimate of the payload.

6. The system of claim 5, wherein the operation controlled by the controller includes at least one transmission shift point.

7. The system of claim 5, wherein the operation controlled by the controller includes adjusting timing of the prime mover.

8. The system of claim 1, further including a transmission and wherein the controller is further configured to determine if the transmission is at a gear higher than a predetermined gear.

9. The system of claim 1, further including a transmission including a gear and wherein the controller is further configured to determine if the gear has not been changed within a predetermined period of time.

10. The system of claim 1, further including a throttle position sensor for determining a position of a throttle, and the controller is further configured to:

store a throttle position threshold;

determine the throttle position;

compare the position of the throttle to the throttle position threshold; and

determine the estimate of the payload in the bed when the throttle position is greater than the throttle position threshold.

11. The system of claim 1, wherein the angle of inclination threshold is a grade of approximately 4%.

12. The system of claim 11, wherein the acceleration threshold is approximately 2.0 miles per hour per second.

13. The system of claim 12, wherein the inclination rate of change threshold is approximately 3 degrees per second.

14. A method of estimating a payload in a bed of a machine, the method comprising:

storing an angle of inclination threshold;

storing an inclination rate of change threshold;

storing an acceleration threshold;

storing an unloaded mass of the machine in an unloaded condition;

determining an output torque from a prime mover;

determining an angle of inclination of the machine based upon signals from a grade detector;

comparing the angle of inclination of the machine to the angle of inclination threshold;

driving the machine on a work surface wherein, when driving the machine, the angle of inclination of the machine is greater than the angle of inclination threshold;

determining a rate of change in the angle of inclination;

comparing the rate of change in the angle of inclination to the inclination rate of change threshold;

driving the machine on a work surface wherein, when driving the machine, the rate of change in the angle of inclination is less than the inclination rate of change threshold;

determining a rate of machine acceleration;

comparing the rate of machine acceleration to the acceleration threshold; and

driving the machine on a work surface wherein, when driving the machine, the machine acceleration is less than the acceleration threshold; and

determining an estimate of the payload in the bed based on the output torque from the prime mover, the angle of inclination of the machine, and the unloaded mass while;

the angle of inclination of the machine is greater than the angle of inclination threshold;

the rate of change in the angle of inclination is less than the inclination rate of change threshold; and

the machine acceleration is less than the acceleration threshold.

15. The method of claim 14, including determining the estimate of the payload without determining a change in inertia and a change of momentum.

16. The method of claim 14, including automatically determining the estimate of the payload upon completion of one of a loading event of the bed and an emptying event of the bed.

17. The method of claim 16, including resetting the estimate of the payload upon completion of one of the loading event of the bed and the emptying event of the bed.

18. The method of claim 14, including controlling an operation of the machine while the machine is moving based upon the estimate of the payload.

19. The method of claim 14, including determining if a gear of a transmission has not been changed within a predetermined period of time.

20. A hauling machine comprising

a plurality of ground engaging elements;

a prime mover operatively connected to the plurality of ground engaging elements;

a bed adapted to carry a payload;

a transmission operatively connected to the prime mover and the plurality of ground engaging elements and adapted to operate in a plurality of gears;

a torque sensor for determining an output torque from the prime mover;

a grade detector for determining an angle of inclination of the hauling machine;

a sensor for determining machine acceleration; and

a controller configured to;

store an angle of inclination threshold;

store an inclination rate of change threshold;

store an acceleration threshold;

store an unloaded mass of the hauling machine in an unloaded condition;

determine the output torque from the prime mover;

determine the angle of inclination of the hauling machine based upon signals from the grade detector;

compare the angle of inclination of the hauling machine to the angle of inclination threshold;

determine a rate of change in the angle of inclination;

compare the rate of change in the angle of inclination to the inclination rate of change threshold;

determine the machine acceleration;

compare the machine acceleration to the acceleration threshold; and

only if;

a) the angle of inclination of the hauling machine is greater than the angle of inclination threshold;

b) the rate of change in the angle of inclination is less than the inclination rate of change threshold; and

c) the machine acceleration is less than the acceleration threshold,

determine an estimate of the payload in the bed based upon the output torque from the prime mover, the angle of inclination of the machine, and the unloaded mass.