System and method for monitoring machine hauling conditions at work site and machine including same

• US 10,186,093 B2
• Filed: 12/16/2016
• Issued: 01/22/2019
• Est. Priority Date: 12/16/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Pauli, Nathan S.
• Primary Examiner(s): Khatib, Rami
• Application Number:
  US15/382,009
• Publication Number:
  US 20180174378A1
• Time in Patent Office: 767 Days
• Field of Search: None
• CPC Class Codes: B60G 2300/09 Construction vehicles, e.g. graders, excavators
• CPC Class Codes: B60G 2400/51222 Pneumatic
• CPC Class Codes: B60G 2400/824 Travel path sensing; Track monitoring
• CPC Class Codes: B60G 9/02 the axle or housing being pivotally mounted on the vehicle , e.g. the pivotal axis being parallel to the longitudinal axis of the vehicle B60G9/003 takes precedence
• CPC Class Codes: B60P 1/04 with a tipping movement of load-transporting element dredgers or soil-shifting machines E02F3/00
• CPC Class Codes: G01C 21/3697 Output of additional, non-guidance related information, e.g. low fuel level G01C21/3679 takes precedence
• CPC Class Codes: G01M 17/04 Suspension or damping
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile
• CPC Class Codes: G06F 16/23 Updating
• CPC Class Codes: G06F 16/29 Geographical information databases
• CPC Class Codes: G07C 5/0808 Diagnosing performance data testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005
• CPC Class Codes: G07C 5/0825 using optical means
• CPC Class Codes: G07C 5/085 using electronic data carriers

Abstract

A machine includes a frame, a suspension system mounted to the frame and including a strut, and a hauling condition monitoring system supported by the frame. The hauling condition monitoring system includes a pressure sensor arranged with the strut, a geolocation unit, a computer-readable medium bearing a hauling condition monitoring program, a controller, and an interface device. The controller is in operable communication with the pressure sensor and the geolocation unit to receive their signals and configured to execute the hauling condition monitoring program. The interface device is in operable communication with the controller and configured to display the hauling condition monitoring program'"'"'s graphical user interface. The hauling condition monitoring program is configured to monitor the strut pressure signal for a hazard event that occurs when a dynamic change in the strut pressure exceeds a threshold amount and track the location of the machine when the hazard event occurred.

Claims

1. A machine comprising:

a frame;

a suspension system, the suspension system mounted to the frame and including a strut; and

a hauling condition monitoring system, the hauling condition monitoring system supported by the frame and including;

a pressure sensor, the pressure sensor arranged with the strut to sense a strut pressure within the strut, the pressure sensor configured to generate a strut pressure signal indicative of the strut pressure sensed by the pressure sensor,

a geolocation unit, the geolocation unit configured to generate a location signal indicative of a location of the machine,

a non-transitory computer-readable medium, the non-transitory computer-readable medium bearing a hauling condition monitoring program, the hauling condition monitoring program including a graphical user interface,

a controller, the controller in operable communication with the pressure sensor to receive the strut pressure signal therefrom and with the geolocation unit to receive the location signal therefrom, the controller in operable arrangement with the non-transitory computer-readable medium such that the controller is configured to execute the hauling condition monitoring program contained thereon,

an interface device, the interface device in operable communication with the controller, the interface device configured to display the graphical user interface of the hauling condition monitoring program, and

a data storage device, the data storage device in operable communication with the controller, the data storage device including a database of hazard event data for a worksite, including data corresponding to a historical set of dynamic strut pressure changes occurring at a plurality of locations at the worksite from a plurality of machines, including said machine,

wherein the hauling condition monitoring program includes a strut pressure monitoring module, a tracking module, and a messaging module,

wherein the strut pressure monitoring module is configured to monitor the strut pressure signal for a hazard event, the hazard event occurring when a dynamic change in the strut pressure sensed by the pressure sensor exceeds a threshold amount,

wherein the tracking module is configured to track the location of the machine when the hazard event occurred,

wherein the messaging module is configured to display, through the graphical user interface, a hazard event message in the interface device indicating that the hazard event occurred when the dynamic change exceeds the threshold amount,

wherein the strut pressure monitoring module is configured to compare the dynamic change in the strut pressure sensed by the pressure sensor at a present time at a present location of the machine to the data of the historical set of dynamic strut pressure changes occurring at the present location, from the plurality of machines, to determine whether the hazard event occurred, and

wherein the data of the historical set of dynamic strut pressure changes for the present location is limited to data within a predetermined period of time prior to the present time, data prior to the predetermined period of time having been excluded from consideration as the data of the historical set of dynamic strut pressure changes for the present location.

2. The machine according to claim 1, further comprising:

an operator compartment supported by the frame;

wherein the interface device is mounted within the operator compartment.

3. The machine according to claim 1, further comprising:

a ground-engaging system, the ground-engaging system mounted to the frame such that the suspension system is interposed between the frame and the ground-engaging system.

4. The machine according to claim 3, wherein the ground-engaging system includes a plurality of front wheels rotatably mounted to a front axle and a plurality of rear wheels rotatably mounted to a rear axle, the strut comprises a first strut, the suspension system includes a second strut, the first strut being interposed between the frame and the plurality of front wheels, and the second strut being interposed between the frame and the plurality of rear wheels, the pressure sensor comprises a first pressure sensor, and the hauling condition monitoring system includes a second pressure sensor, the second pressure sensor arranged with the second strut to sense a second strut pressure within the second strut, the second pressure sensor configured to generate a second strut pressure signal indicative of the second strut pressure sensed by the second pressure sensor, the controller in operable communication with the second pressure sensor to receive the second strut pressure signal therefrom, and the strut pressure monitoring module configured to monitor the second strut pressure signal for an occurrence of the hazard event.

5. The machine according to claim 1, wherein the controller is configured to transmit a hazard event signal, the hazard event signal containing strut pressure data and corresponding location data, and the hauling condition monitoring system further includes a communication device, the communication device in operable arrangement with the controller to communicatively transmit the hazard event signal to a receiver unsupported by the frame.

6. The machine according to claim 5, wherein the hazard event signal contains hazard event data indicating the hazard event occurred and a time and place of occurrence for the hazard event.

7. A system for monitoring hauling conditions of a machine, the machine including a frame and a suspension system, the suspension system mounted to the frame and including a strut, the system comprising:

a pressure sensor, the pressure sensor adapted to be arranged with the strut to sense a strut pressure within the strut, the pressure sensor configured to generate a strut pressure signal indicative of the strut pressure sensed by the pressure sensor;

a geolocation unit, the geolocation unit configured to generate a location signal indicative of a location of the machine;

a non-transitory computer-readable medium, the non-transitory computer-readable medium bearing a hauling condition monitoring program, the hauling condition monitoring program including a graphical user interface;

a controller, the controller in operable communication with the pressure sensor to receive the strut pressure signal therefrom and with the geolocation unit to receive the location signal therefrom, the controller in operable arrangement with the non-transitory computer-readable medium such that the controller is configured to execute the hauling condition monitoring program contained thereon;

an interface device, the interface device in operable communication with the controller, the interface device configured to display the graphical user interface of the hauling condition monitoring program; and

a data storage device, the data storage device in operable communication with the controller, the data storage device including a database of hazard event data for a worksite, including data corresponding to a historical set of dynamic strut pressure changes occurring at a plurality of locations at the worksite from a plurality of machines, including said machine,

wherein the hauling condition monitoring program includes a strut pressure monitoring module, a tracking module, and a messaging module,

wherein the strut pressure monitoring module is configured to monitor the strut pressure signal for a hazard event, the hazard event occurring when a dynamic change in the strut pressure sensed by the pressure sensor exceeds a threshold amount,

wherein the tracking module is configured to track the location of the machine when the hazard event occurred,

wherein the messaging module is configured to display, through the graphical user interface, a hazard event message in the interface device indicating that the hazard event occurred when the dynamic change exceeds the threshold amount,

wherein the strut pressure monitoring module is configured to compare the dynamic change in the strut pressure sensed by the pressure sensor at a present time at a present location of the machine to the data of the historical set of dynamic strut pressure changes occurring at the present location, from the plurality of machines, to determine whether the hazard event occurred, and

wherein the data of the historical set of dynamic strut pressure changes for the present location is limited to data within a predetermined period of time prior to the present time, data prior to the predetermined period of time having been excluded from consideration as the data of the historical set of dynamic strut pressure changes for the present location.

8. The system according to claim 7, wherein the geolocation unit comprises a GPS receiver, and the location signal includes a latitudinal position and a longitudinal position.

9. The system according to claim 7, wherein the dynamic change exceeds the threshold amount when at least one of an amplitude spike exceeds a threshold spike value and a dynamic range value exceeds a threshold range value.

10. The system according to claim 7,

wherein the database of hazard event data includes data corresponding to a set of hazard events and data corresponding to a set of hazard locations corresponding to the set of hazard events, and

wherein the hauling condition monitoring program includes a mapping module, the mapping module being configured to generate a hazard map of the worksite using the database of hazard event data in the data storage device, the hazard map including a hazard indicator at each of the set of hazard locations for the set of hazard events.

11. The system according to claim 10, wherein the mapping module is configured to display, through the graphical user interface, the hazard map in the interface device, the mapping module configured such that the hazard indicator at the location of each of the set of hazard locations is configured to indicate at least one of a number and a number range of hazard events that occurred at the location within a predefined period of time.

12. The system according to claim 10, wherein the tracking module is configured to track the location of the machine while the machine is moving and to compare the location of the machine with the set of hazard locations to determine when the machine is within a predetermined hazard distance from at least one of the set of hazard locations, and the messaging module is configured to display, through the graphical user interface, a hazard-approaching message in the interface device indicating that the machine is approaching a hazardous area when the tracking module determined the machine is within the predetermined hazard distance.

13. The system according to claim 10,

wherein the machine comprises a first machine, and

wherein the database of hazard event data includes data received from at least a second machine equipped with a corresponding strut and a corresponding pressure sensor.

14. A method of monitoring hauling conditions of a machine, the machine including a frame and a suspension system, the suspension system mounted to the frame and including a strut, the method comprising:

sensing a strut pressure within the strut with a pressure sensor to generate a strut pressure signal indicative of the strut pressure sensed by the pressure sensor;

operating a geolocation unit to generate a location signal indicative of a location of the machine;

providing, in a data storage device in operable communication with a controller, a database of hazard event data for a worksite, including data corresponding to a historical set of dynamic strut pressure changes occurring at a plurality of locations at the worksite from a plurality of machines, including said machine;

transmitting the strut pressure signal and the location signal to the controller;

using the controller to execute a hauling condition monitoring program stored upon a non-transitory computer-readable medium to determine whether a hazard event occurred based upon the strut pressure signal; and

in response to the hauling condition monitoring program determining the hazard event occurred, using the controller to execute the hauling condition monitoring program to display, through a graphical user interface, a hazard message in an interface device indicating the hazard event occurred,

wherein said determining whether the hazard event occurred includes comparing a dynamic change in the strut pressure sensed by the pressure sensor at a present time at a present location of the machine to the data of the historical set of dynamic strut pressure changes occurring at the present location, from the plurality of machines, to determine whether the hazard event occurred, and

wherein the data of the historical set of dynamic strut pressure changes for the present location is limited to data within a predetermined period of time prior to the present time, data prior to the predetermined period of time having been excluded from consideration as the data of the historical set of dynamic strut pressure changes for the present location.

15. The method according to claim 14, wherein the machine includes an operator compartment, and the interface device is mounted within the operator compartment.

16. The method according to claim 14, wherein the machine includes a communication device, the communication device being in operable connection with the controller, the method further comprising:

using the controller to transmit a hazard event signal to a receiver via the communication device, the hazard event signal containing strut pressure data and corresponding location data, and the receiver being located off board of the machine.

17. The method according to claim 14, wherein the hauling condition monitoring program determines the hazard event occurred by monitoring the strut pressure signal for an occurrence when the dynamic change in the strut pressure sensed by the pressure sensor exceeds a threshold amount, the threshold amount being at least one of an amplitude spike exceeding a threshold spike value and a dynamic range value exceeding a threshold range value.

18. The method according to claim 14, further comprising:

using the controller to execute the hauling condition monitoring program to display, through the graphical user interface, a hazard-approaching warning message in the interface device indicating the machine is approaching a historical hazard event site in response to the machine being within a predetermined hazard distance from the historical hazard event site.